loading
Papers Papers/2022 Papers Papers/2022

Research.Publish.Connect.

Paper

Authors: Zhenyu Gao ; Ze Wang ; Ludovic Saint-Bauzel and Faïz Ben Amar

Affiliation: Sorbonne University, CNRS, UMR 7222, Institut des Systemes Intelligents et Robotique - ISIR, France

Keyword(s): Human Detection and Tracking, Human Orientation Estimation, Service Robotics.

Abstract: Human pose tracking is a practical feature for service robots, which allows the robot to predict the user’s trajectory and behavior and thus provide appropriate assistance for them. In this paper, we propose a human pose tracking method based on a knee-high 2D LiDAR mounted on the mobile robot. Inspired by human gait, a motion intention zoning, and a walking gait model are proposed to adapt to various motion patterns and achieve accurate orientation estimation. We propose a Kalman Filter-based human pose tracker that considers the leg occlusion problem and the data association of legs. We evaluate the proposed method’s performance in various complex scenarios and demonstrate robustness to leg occlusion. We released our implementation as open-source code∗ .

CC BY-NC-ND 4.0

Sign In Guest: Register as new SciTePress user now for free.

Sign In SciTePress user: please login.

PDF ImageMy Papers

You are not signed in, therefore limits apply to your IP address 3.139.107.45

In the current month:
Recent papers: 100 available of 100 total
2+ years older papers: 200 available of 200 total

Paper citation in several formats:
Gao, Z.; Wang, Z.; Saint-Bauzel, L. and Ben Amar, F. (2023). 2D LiDAR-Based Human Pose Tracking for a Mobile Robot. In Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-670-5; ISSN 2184-2809, SciTePress, pages 511-519. DOI: 10.5220/0012255600003543

@conference{icinco23,
author={Zhenyu Gao. and Ze Wang. and Ludovic Saint{-}Bauzel. and Faïz {Ben Amar}.},
title={2D LiDAR-Based Human Pose Tracking for a Mobile Robot},
booktitle={Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2023},
pages={511-519},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0012255600003543},
isbn={978-989-758-670-5},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - 2D LiDAR-Based Human Pose Tracking for a Mobile Robot
SN - 978-989-758-670-5
IS - 2184-2809
AU - Gao, Z.
AU - Wang, Z.
AU - Saint-Bauzel, L.
AU - Ben Amar, F.
PY - 2023
SP - 511
EP - 519
DO - 10.5220/0012255600003543
PB - SciTePress

- Science and Technology Publications, Lda.
RESOURCES

Proceedings

Papers

Authors

Ontology

CONTACTS

Science and Technology Publications, Lda
Avenida de S. Francisco Xavier, Lote 7 Cv. C,
2900-616 Setúbal, Portugal.

Phone: +351 265 520 185 (National fixed network call)
Fax: +351 265 520 186
Email: [email protected]

EXTERNAL LINKS

PRIMORIS

INSTICC

SCITEVENTS

CROSSREF

PROCEEDINGS SUBMITTED FOR INDEXATION BY:

dblp

Ei Compendex

SCOPUS

Semantic Scholar

Google Scholar

Microsoft Academic